| 摘要 |
A robotic manipulator has three linearly extensible arms mounted on a frame in a triangular array and carrying at their remote ends a connector interface coupling the arms to a tool for manipulating parts to be positioned or for other work. The structure is such that the location of the connector is determined solely by the lengths of the arms, while its orientation is determined primarily by controllably rotating the connector with respect to the arms. The decoupling of position and orientation minimizes the computation required to accurately position a tool. In the preferred illustrative embodiment, the rotation is performed by driving motors for the arms which are located at the arm ends adjacent the frame; this minimizes the mass, and thus the inertia, that is located at the connector end, and enables high acceleration and rapid motion of the connector head and its associated tool. Further, a three-point suspension for the arms provides high stiffness, thereby enabling the system to carry substantial loads at high speed and with good positioning and orientation accuracy. |
